Contact-Implicit Differential Dynamic Programming
This project was developed for my Legged Robots course at the University of Michigan taught by Prof. Yanran Ding in the Winter 2024 semester. This work mainly follows the publication from Kim et al. “Contact-Implicit Differential Dynamic Programming for Model Predictive Control with Relaxed Complementarity Constraints”, IROS 2022.
Apr 30, 2024
Control of a Planar Ballbot with Obstacle Avoidance
This project was developed for an Applied Optimal Control course taught by Dr. Christian Hubicki in the Winter 2023 semester. I wrote a controller for a ballbot, which is a small, wheeled robot that balances on top of a basketball. The controller uses trajectory optimization and convex model predictive control (MPC) to navigate the world while staying balanced and avoiding obstacles.
Apr 28, 2023